CANopen technical guide for ASDA a2

Communication Cable

Connectors - Pinout

Pin Assignment (RJ-45) for CAN bus Wiring

Pin No Signal Name Description

Baudrate Settings

System Setup

Scope of Function

CANopen protocol: NMT, SYNC, SDO, PDO, EMCY

SDO transfer for reading and writing parameters and communication settings

PDO sends/receives along with time-trigger, event-trigger, sync cyclic and sync acyclic Node Guarding

2.1.2 Function not supported by Delta

Parameter Settings of CANopen Mode

Users can follow the below instructions to connect CANopen Host Controller and servo drive A2

① Set parameter P1-01 to 0x0B h or 0x0C h for CANopen mode

The 0x0Bh identifier is designated for basic CANopen mode and does not fully support the complete CANopen protocol In contrast, the 0x0Ch identifier is intended for standard CANopen protocol and is recommended for connection with any motion controller.

② Set Parameter P3-00 to Node Id for range 01h~7Fh

③ Set Parameter P3-01 to 0403h for Baudrate 1Mbps (0: 125Kbps; 1: 250Kbps; 2: 500 Kbps; 3: 750Kbps; 4:1Mbps)

④ Set Parameter P3-09 to 0x5055h for Synchronization

P1 - 01 ● CTL Control Mode and Output Direction Address: 0102H,

Operation Interface: Keypad / Software Communication Default: 0

Control Mode: ALL Unit: pulse (P mode), r/min (S mode), N-m (T mode)

Pt Pr S T Sz Tz Single Mode

Pt Pr S T Sz Tz Dual Mode

0B CANopen Mode (Half) 0C CANopen Mode (Full)

Position control mode (Pt) operates by receiving commands from external pulses or analog voltage, with the latter option becoming available soon The execution of these command selections is facilitated through a digital input signal known as PTAS.

Pr: Position control mode The command is from internal signal Execution of 64 positions is via DI signals (POS0 ~ POS5) A variety of homing control is also provided

S: Speed control mode The command is from external signal or internal signal Execution of the command selection is via DI signals, SPD0 and SPD1

T: Torque control mode The command is from external signal or internal signal Execution of the command selection is via DI signals, TCM0 and TCM1

Sz: Zero speed / internal speed command Tz: Zero torque / internal torque command

Dual Mode: Control of the mode selection is via DI signals For example, either Pt or S control mode can be selected via DI signal, S-P (see Table 8.A)

Multiple Mode: Control of the mode selection is via DI signals For example, either Pt or Pr or

S control mode can be selected via DI signals, S-P and Pt-Pr (see Table 8.A) B: Torque output direction settings

1: When switching to different mode, digital inputs/outputs (P2-10 ~ P2-22) can be reset to be the default value of the mode you switch to

0: When switching to different mode, the setting value of digital inputs/outputs (P2-10 ~ P2-22) will remain the same and will not be changed

P3 - 00 ADR Communication Address Setting Address: 0300H,

Operation Interface: Keypad / Software Communication Default: 0x7F

Control Mode: ALL Unit: N/A Range: 0x01 ~ 0x7F Data Size: 16-bit

This parameter is used to set the communication slave address in hexadecimal format This address is an absolute address which represents the servo drive on a RS-232/485 or

X: Axis number, the value must be within the range from 0 through F

Y: Group number, the value must be within the range from 0 to through 7

To ensure proper communication when controlling an AC servo drive via RS-232/485, each drive must have a unique identifier, as only one address can be assigned per servo drive Duplicate addresses will result in communication errors.

1 This parameter does not provide broadcast function and does not respond insecurity

2 When the address of host (external) controller is set to 0xFF, it is with auto-respond function Then, the servo drive will receive from and respond to host (external) controller both no matter the address is matching or not However, the parameter P3-00 cannot be set to 0xFF

Operation Interface: Keypad / Software Communication Default: 0x0203

Control Mode: ALL Unit: bps Range: 0x0000 ~ 0x0405 Data Size: 16-bit

This parameter is used to set the baud rate and data transmission speed of the communications

Y: Reserved Must be set to be 0

1 When setting this parameter via CANopen communication, only the setting of Z (data transmission speed setting) can be configured and other settings

2 The communication transmission speed for USB can be set to 1.0M bits / second only and cannot be changed

P3 - 09 SYC CANopen Synchronization Setting Address: 0312H,

Control Mode: CANopen Unit: N/A Range: refer to the description of Settings Data Size: 16-bit

This parameter configures the synchronization of the CANopen slave with the CANopen master via a synchronization signal While users have the option to manually adjust this setting, it is advisable to retain the default configuration unless absolutely necessary.

Function SYNC error range Target value Dead zone range

M: Clock correction setting, the value must be within the range from 1 through F, and the unit is usec

To synchronize the CANopen slave with the CANopen master, it is essential to adjust the servo drive's clock This function ensures that the maximum correction is applied consistently.

D: Dead zone range, the value must be within the range from 0 through F, and the unit is usec When the difference between actual value and target value of SYNC signal reach time does not exceed the dead zone range, the clock correction does not need to be changed T: Target value of SYNC signal reach time, the value must be within the range from 0 through 9, and the standard value of SYNC signal reach time is 500 usec

Target reach time of synchronization signal = 300 + 10 x setting value of T

When T is set to 5, the target reach time of synchronization signal = 300 + 10 x 5 = 450

To ensure accuracy, it is essential to maintain a buffer between the target value and the standard value, with the target value being set lower than the standard value If the target value exceeds the standard value, it may lead to potential errors.

E: SYNC error range, the value must be within the range from 1 through 9, and the unit is 10 usec

When the time difference between the actual value and the target value of the SYNC signal falls within a specified range, it signifies that the CANopen slave is successfully synchronizing with the CANopen master via the synchronization signal.

P3-10 CANEN CANopen Protocol Setting Address: 0314H

Motor status when CAN bus error occurs

X=0 : partially supportive for CANopen DS402 protocol (for earlier Delta products) X=1: supportive for complete CANopen DS402 protocol

Y=0: When CAN bus error occurs, free run

Y=1: When CAN bus error occurs, servo off

1 For ASDA-A2-M model, Y-bit is available, but X-bit is invalid

2 For ASDA-A2-F model, X-bit is always be 1

P3-11 CANOP CANopen saving options Address: 0316H

Options of saving parameters in EEPROM

X=0 : don’t save parameters in EEPROM X=1: save parameters in EEPROM by PDO writing Y: N/A

1 This parameter is only available for ASDA-A2 -M and -F models

2 When X=1, continuously PDO writing parameters may shorten EEPROM’s lifespan

P3-12 QSTPO CANopen Quick Stop Settings Address: 0318H

Control Mode: CANopen Unit: 0x0000 ~ 0x0111 Range: refer to the description of Settings

Optional Quick Stop mode (in auto protection)

OD-6040 supportive for Quick Stop

X=0： Only when OD-6040 Bit3 （Enable Operation） =1, then execute servo on X=1：When all OD-6040 Bit0, Bit1, and Bit3 (meet CANopen DS402 protocols)

When OD-6040 Bit2（Quick Stop）=1, then servo drive will go to Quick Stop mode

Y=0 ： When motor slows down to stop by auto protection, servo drive will not go to Quick Stop mode

When the motor slows down and stops due to auto protection, the servo drive automatically enters Quick Stop mode To resume other operations, it is essential to issue a "Fault Reset" command to the servo drive.

Z=0：When servo drive is power on or reset, parameters in below table will reload the default settings

Z=1：When servo drive is power on or reset, parameters in below table remain the previous settings

List of CANopen Object and parameters relative to P3-12 Z setting

CANopen Operation Modes

Profile Position Mode

Servo drive (hereinafter referred to as “Drive”)receives position command from host (external) controller (hereinafter referred to as “Host”) and then control servo motor to reach target position

Pulse of User-defined Unit Definition:

Pulse of User Unit (PUU): No of

① Set【Mode of operations:6060h】 to profile position mode(1)

② Set【Target position:607Ah】to target position (unit: PUU)

③ Set【Profile velocity:6081h】to profile velocity (unit: PUU per second)

④ Set【Profile acceleration:6083h】to plan acceleration slope (millisecond from 0rpm to 3000rpm)

⑤ Set【Profile deceleration:6084h】to plan deceleration slope (millisecond from 0rpm to 3000rpm)

⑥ Set【Controlword:6040h】 to servo on drive and make motor work

⑦ Query【Statusword:6064h】to get feedback position of motor

⑧ Query【Statusword:6041h】to get drive status of following error、set-point acknowledge and target reached

① Host could get more information about profile position mode

Query【Position demand value:6062h】to get internal position command (unit: PUU) Query【Position actual value*:6063h】to get actual position value (unit: increments)

Set【Following error window:6065h】 to define range of tolerated position values symmetrically to the position demand value (unit: PUU)

To determine the actual value of the following error, which is recorded as 60F4h (unit: PUU), it is essential to evaluate the following error window and reference position The analysis should also consider the accepted tolerance for the following error to ensure accuracy and compliance with established standards.

Set【Position window:6067h】to define a symmetrical range of accepted positions relatively to the target position (unit: PUU)

To activate the target upon reaching the designated position, set the position window time to 6068 hours (equivalent to milliseconds) This ensures that when the position is not reached, the system recognizes the acceptable range for the target position.

6060h Modes of operation INTEGER8 RW

6061h Modes of operation display INTEGER8 RO

6062h Position demand value [PUU] INTEGER32 RO

6063h Position actual value [increment] INTEGER32 RO

6064h Position actual value INTEGER32 RO

6065h Following error window UNSIGNED32 RW

6068h Position window time UNSIGNED16 RW

607Ah Target position INTEGER32 RW

60F4h Following error actual value INTEGER32 RO

60FCh Position demand value INTEGER32 RO

Interpolation Position Mode

TheHost sends a broadcast SYNC frame (0x80) cyclically

With each PDO, the Host sends the next reference position Xi, the difference△Xi and controlword to the drive

While the next SYNC receiving, the drive interpolates from Xi-1 to Xi

There is no input data buffer, which will cause delay

When SYNC object is delayed, the interpolator should generate with the last acceleration and extrapolate predicted speed and position

When the SYNC delays for 2*cycle, Drive should stop and send out an error message

PDO Rx/Tx Mapping record

PDOs from Host to Drive

- 32 bit reference position [position increment]

△Xi = (Xi+1 – Xi-1)/2 (it is also the same as velocity)

PDO from Host to Drive (Every PDO contain 8 bytes field like below)

① Set【Mode of operations:6060 h 】to interpolation position mode(7)

Set【Interpolation sub mode select:60C0h】to Interpolation mode

If 60C0h is [0] or [-1], Host needs to send [60C1h Sub-3] and Drive will work more precisely

If 60C0h is [-2], Host does not need to send [60C1h Sub-3] It could save calculating time of Host and Drive could work also

Set【Interpolation sub mode select:60C0h】to Interpolation mode

If 60C0h is [0], Host does not send [60C1h Sub-3] It could save calculating time of host and Drive could work also

If 60C0h is [-1], Host need to send [60C1h Sub-3] and Drive will work more precisely

Set【Communication Cycle period:1006h】 to predict SYNC interval

The unit of this object is microsecond

It is recommended to set this value for a multiple of 1000 microsecond

32 bit reference position 16 bit difference 16 bit controlword

Set【Interpolation time period:60C2h】 to predict SYNC receiving period

60C2h Sub-1 for Interpolation time units The range is from 1ms to 20ms

60C2h Sub-2 for Interpolation time index The value is always -3 meaning the interpolation time unit is 10 -3 second

④ Set PDO Communication & Mapping parameters via SDO

Set 1400h Sub-1 for PDO RxCobId

Set 1400h Sub-2 for PDO receive type [0x01] normally

If using these steps, Host need to send SYNC and PDO data every Communication cycle

60C1h Sub-1 for Pos Cmd (Low word) 60C1h Sub-2 for Pos Cmd (High word) 60C1h Sub-3 for Symmetrical Difference (optional)

60C1h Sub-1 for Pos Cmd (32-bit)

⑥ Drive PDO Tx content could be set up to requirements of Host

⑦ Receive NMT from Host to start or stop operation

Because of difference of each oscillator, users must change parameter P3-09 to make drive to automatically modify internal timer to match SYNC object period)

60C0h Interpolation sub mode select INTEGER16 RW

60C1h Interpolation data record ARRAY RW

(Please refer to the following “Details of Objects” section for more detailed descriptions)

Homing Mode

This mode could help drive to seek the home position The user can specify the speeds, acceleration and the method of homing

① Set【Mode of operations:6060h】 to homing mode(6)

③ Set 【Homing method:6098h】 , method range is 1~35 (refer to OD-9098h definition below)

④ Set【Homing speeds:6099h Sub-1】 to set speed during search for switch (unit: rpm)

⑤ Set【Homing speeds:6099h Sub-2】 to set speed during search for zero (unit: rpm)

⑥ Set 【Homing acceleration:609Ah】 for homing acceleration (unit: millisecond from 0rpm to 3000rpm)

⑦ Set【Controlword:6040h】 to servo on drive and make motor work

⑧ Find Home Switch and do homing

⑨ Query【Statusword:6041h】to get drive status

607Ch Home offset INTEGER32 RW

609Ah Homing acceleration UNSIGNED32 RW

Profile Velocity Mode

Drive could receive velocity commands and plan acceleration and deceleration

① Set【Mode of operations:6060h】 to profile velocity mode(3)

② Set【Controlword:6040h】 to servo on drive and make motor work

(After drive switch to servo-on, internal velocity command will be reset and OD-60FFh will be cleared.)

③ Set【Profile acceleration:6083h】to plan acceleration slope (millisecond from 0rpm to 3000rpm)

④ Set【Profile deceleration:6084h】to plan deceleration slope (millisecond from 0rpm to 3000rpm)

⑤ Set【Target velocity:60FFh】 The unit of Target velocity is 0.1rpm

When the drive is already in servo-on mode, it will respond immediately to velocity commands Additionally, if the mode is changed in OD-6060h, or if Servo-Off or Quick-Stop is activated, the value in OD-60FFh will reset to zero.

⑥ Query【Statusword:6041h】to get drive status

① Host could get information about velocity mode

Query【Velocity demand value:606Bh】to get internal velocity command (unit: 0.1rpm) Query【Velocity actual value:606Ch】to get actual velocity value (unit: 0.1rpm)

② Host could set velocity monitor threshold

Set【Velocity window:606Dh】to allocate velocity reached zone (unit: 0.1rpm) Set【Velocity widnow time:606Eh】to plan time of activation of velocity reached (unit: millisecond)

Set【Velocity threshold:606Fh】to allocate zero speed level (unit: 0.1rpm)

6060 h Modes of operation INTEGER8 RW

606Bh Velocity demand value INTEGER32 RO

606Ch Velocity actual value INTEGER32 RO

606Dh Velocity window UNSIGNED16 RW

606Eh Velocity window time UNSIGNED16 RW

60FFh Target velocity INTEGER32 RW

Profile Torque Mode

Drive could receive torque command and plan profile torque slope

① Set【Mode of operations:6060h】 to profile torque mode(4)

② Set【Controlword:6040h】 to servo on drive and make motor work

(After drive switches to servo-on, internal torque command will be reset and OD-6071h will be cleared It means the drive is servo-on, then starts receiving torque command.)

③ Set【Torque slope:6087h】to plan torque slope time (unit: millisecond from 0 to 100﹪rated torque)

Set the target torque to 6071h, which is expressed as a fraction of the rated torque Note that the value of OD-6071h will reset to zero if the mode is changed on OD-6060h, or if either the Servo-Off or Quick-Stop functions are activated.

Host could get information about torque mode

Query【Torque demand value:6074h】to get output value of the torque limit function (unit: per thousand of rated torque)

Query【Torque rated current:6075h】to get the rated current depending on the motor and drive type (unit: multiples of milliamp)

Query【Torque actual value:6077h】to get instantaneous torque in the drive motor (unit: per thousand of rated torque)

Query【Current actual value:6078h】to get instantaneous current in the drive motor (unit: per thousand of rated current)

6074h Torque demand value INTEGER16 RO

6075h Motor rated current UNSIGNED32 RO

6077h Torque actual value INTEGER16 RO

6078h Current actual value INTEGER16 RO

Object Dictionary Entries

Specifications for Objects

VAR A single value such as an UNSIGNED8, Boolean, float, INTEGER16 etc

ARRAY A multiple data field object where each data field is a sample variable of the

SAME basic data type e.g array of UNSIGNED16 etc Sub-index 0 is of UNSIGNED8 and therefore not part of the ARRAY data

RECORD A multiple data field object where the data fields may be any combination of simple variables Sub-index 0 is of UNSIGNED8 and therefore not part of the RECORD data

Please refer to CANopen Standard 301.

Overview of Object Group 1000h

Index Object Type Name DataType Access

1000h VAR device type UNSIGNED32 RO

1001h VAR error register UNSIGNED8 RO

1003h ARRAY pre-defined error field UNSIGNED32 RW

1005h VAR COB-ID SYNC UNSIGNED32 RW

1006 h VAR communication cycle period UNSIGNED32 RW

100Ch VAR guard time UNSIGNED16 RW

100Dh VAR life time factor UNSIGNED8 RW

1010h ARRAY store parameters UNSIGNED32 RW

1011h ARRAY restore default parameters UNSIGNED32 RW

1014h VAR COB-ID EMCY UNSIGNED32 RO

1016h ARRAY Consumer heartbeat time UNSIGNED32 RW

1017h VAR Producer heartbeat time UNSIGNED16 RW

1018 h RECORD Identity Object UNSIGNED32 RO

1029h ARRAY Error Behavior UNSIGNED8 RW

1200h RECORD 1 st Server SDO parameter SDO Parameter RO

1400h~03h RECORD Receive PDO parameter UNSIGNED16/32 RW

1600h~03h RECORD Receive PDO mapping UNSIGNED32 RW

1800h~03h RECORD Transmit PDO parameter UNSIGNED16/32 RW

1A00h~03h RECORD Transmit PDO mapping UNSIGNED32 RW

※ Only 1001h could be mapped to PDO

Overview of Object Group 6000h

Index Object Type Name DataType Access Mappable

603Fh VAR Error Code UNSIGNED16 RO Y

605Bh VAR Shutdown option code INTEGER16 RW N

605Eh VAR Fault reaction option code INTEGER16 RW N

6060h VAR Modes of operation INTEGER8 RW Y

6061h VAR Modes of operation display INTEGER8 RO Y

6062h VAR Position demand value [PUU] INTEGER32 RO Y

6063h VAR Position actual value [increment] INTEGER32 RO Y

6064h VAR Position actual value INTEGER32 RO Y

6065 h VAR Following error window UNSIGNED32 RW Y

6067h VAR Position windows UNSIGNED32 RW Y

6068h VAR Position window time UNSIGNED16 RW Y

606Bh VAR Velocity demand value INTEGER32 RO Y

606Ch VAR Velocity actual value INTEGER32 RO Y

606Dh VAR Velocity window UNSIGNED16 RW Y

606Eh VAR Velocity window time UNSIGNED16 RW Y

606Fh VAR Velocity threshold UNSIGNED16 RW Y

6071h VAR Target torque INTEGER16 RW Y

6074h VAR Torque demand value INTEGER16 RO Y

6075 h VAR Motor rated current UNSIGNED32 RO Y

6076h VAR Motor rated torque UNSIGNED32 RO Y

6077h VAR Torque actual value UNSIGNED16 RO Y

6078h VAR Current actual value INTEGER16 RO Y

607Ah VAR Target position INTEGER32 RW Y

607Ch VAR Home Offset INTEGER32 RW Y

607Dh ARRAY Software position limit INTEGER32 RW Y

607Fh VAR Max profile velocity UNSIGNED32 RW Y

6080 h VAR Max motor speed UNSIGNED32 RW Y

6081h VAR Profile velocity UNSIGNED32 RW Y

6083h VAR Profile acceleration UNSIGNED32 RW Y

6084h VAR Profile deceleration UNSIGNED32 RW Y

6085h VAR Quick stop deceleration UNSIGNED32 RW Y

6086h VAR Motion profile type INTEGER16 RW Y

6087h VAR Torque slope UNSIGNED32 RW Y

6093h ARRAY Position factor UNSIGNED32 RW Y

6098 h VAR Homing method INTEGER8 RW Y

6099h ARRAY Homing speeds UNSIGNED32 RW Y

609Ah VAR Homing acceleration UNSIGNED32 RW Y

60B0h VAR Position offset INTEGER32 RW Y

60B1h VAR Velocity offset INTEGER32 RW Y

60B2h VAR Torque offset INTEGER16 RW Y

60C0h VAR Interpolation sub mode select INTEGER16 RW Y 60C1h ARRAY Interpolation data record UNSIGNED16/32 RW Y

60C2 h RECORD Interpolation time period SIGNED8 RW Y

60C5h VAR Max acceleration UNSIGNED32 RW Y

60C6h VAR Max deceleration UNSIGNED32 RW Y

60F2h VAR Positioning option code UNSIGNED16 RW Y

60F4h VAR Following error actual value INTEGER32 RO Y

60FC VAR Position demand value INTEGER32 RO Y

60FDh VAR Digital inputs UNSIGNED32 RO Y

60FFh VAR Target velocity INTEGER32 RW Y

6502h VAR Supported drive modes UNSIGNED32 RO Y

2xxx VAR Parameter Mapping INTEGER16/32 RW Y

Details of Objects

Object 1003 h : Pre-defined Error Field

Name pre-defined error field

Example: if AL.011 occurs, the errorcode will store in Array of 1003h

Additional Information(UINT16) Error code(UINT16)

Object 1005 h : COB-ID SYNC message

Name COB-ID SYNC message

Description largest sub-index supported

Description save all default parameters

Description restore all default parameters

Object 1014 h : COB-ID Emergency Object

Name COB-ID Emergency message

0/1 00000000000000000000 11-bit Identifier COB-ID Bit31 is 0 means that EMCY is valid (Drive will send EMCY)

Bit31 is 1 means that EMCY is not valid (Drive will not send EMCY)

Description No of Error Classes

0 Pre-operational (only if current is operational)

Description COB-ID Client->Server (rx)

Default Value Index 1200 h: 600 h + Node-ID

Description COB-ID Server->Client (tx)

Default Value Index 1200 h: 580 h + Node-ID

Object 1400 h ~ 1403 h : Receive PDO Communication Parameter

Description COB-ID used by PDO

Default Value Default Node-ID: 0

Index 1400 h: 200 h + Node-ID Index 1401 h: 300 h + Node-ID Index 1402 h: 400 h + Node-ID Index 1403 h: 500 h + Node-ID

COB-ID Bit31 is 0 means that PDO is valid

Bit31 is 1 means that PDO is not valid

The PDO valid/not valid allows to select which PDOs are used in the operational state

Description inhibit time (not used for RPOD)

Description event timer (not used for RPDO)

Object 1600 h ~ 1603 h : Receive PDO Mapping Parameter

Description Number of mapped application objects in PDO

Description PDO mapping for the nth application object to be mapped

3 bbbb cccc aaaa yy zz xx

Object Dictionary cccc zz Application

Object 2 Application Object 3 Application Object 1

Object 1800 h ~ 1803 h : Transmit PDO Communication Parameter

Description COB-ID used by PDO

Default Value Default Node-ID: 0

Index 1800 h : 180 h + Node-ID Index 1801 h : 280 h + Node-ID Index 1802 h : 380 h + Node-ID Index 1803 h : 480 h + Node-ID

0/1 00000000000000000000 11-bit Identifier COB-ID Bit31 is 0 means that PDO is valid

Bit31 is 1 means that PDO is not valid

The PDO valid/not valid allows to select which PDOs are used in the operational state

Object 1A00 h ~ 1A03 h : Transmit PDO Mapping Parameter

Description Number of mapped application objects in PDO

Description PDO mapping for the nth application object to be mapped

Object 603F h : Error code (errorcode of CANopen defined)

State Machine State Machine State Machine State Machine

State machine in system context

N/A Halt Fault reset Operation mode specific Enable operation

If P1-01 = 0x0B, user could set 6040h to 0x000F for ServoOn immediately

If P1-01 = 0x0C, user need to set 6040h to 0x0006->0x0007->0x000F for Servo On step by step

PP HM IP PV PT

Homing operation start (positive trigger) N/A N/A N/A

PT Profile Torque Mode t1 t2 t0 t3 time v1 v2

2 Operation enabled (status of servo on)

3 Fault (Drive will servo off)

7 Warning (drive still servo on)

PP HM IP PV PT

Homing attained IP mode active Zero Speed N/A

Set-point acknowledge: Trajectory generator has assumed the positioning values

Homing attained: Homing mode carried out successfully

IP mode active: interpolated position mode active – mode is running in IP mode

SYNC OK: SYNC frame is reached before path generator starts

Object 605E h : Fault reaction option code

Name Fault reaction option code

Comment 0:Disable drive, motor is free to rotate

1:slow down on slow down ramp 2:slow down on quick stop ramp

1:Profile position mode 3:Profile velocity mode 4:Profile torque mode 6:Homing mode 7:Interpolated position mode

Object 6061 h : Modes of operation display

Name Modes of operation display

Comment Position command calculated by Interpolation theory Unit: PUU

Comment Unit: per thousand of rated torque

Comment Unit: per thousand of rate torque

Comment Unit: per thousand of rated current

Comment For Profile position mode 6060h=1

Comment Unit : PUU home offset

Comment For Profile position mode 6060 h =1

Unit: millisecond (time from 0rpm to 3000rpm)

Comment Unit: millisecond (time from 0rpm to 3000rpm)

Comment Unit: millisecond (time from 0 to 100％ rated torque)

Comment Position factor Numerator / Feed_constant

Method1：Homing on the negative limit switch and index pulse

Index Pulse Positive Limit Switch

Method2：Homing on the positive limit switch and index pulse

Method 3 and 4：Homing on the positive home switch and index pulse

Method 5 and 6：Homing on the negative home switch and index pulse

Method 7 to 14：Homing on the home switch and index pulse

Method 15 and 16：Reserved (no picture)

Method 17 to 30：Homing without an index pulse

Method 31 and 32：Reserved (no picture)

Method 33 to 34：Homing on the index pulse

Method 35：Homing on the current position (no picture)

Description Speed during search for switch

Description Speed during search for zero

Comment Unit: millisecond (time of acc from 0rpm to

Object 60C0 h : Interpolation sub mode select

Name Interpolation sub mode select

0, -1: manufacturer specific ( Delta definition need pos difference[OD-60C1sub3]) -2: manufacturer specific not need pos difference[OD-60C1sub3])

P1-01 = 0x0C, 0: manufacturer specific (Linear interpolation not need pos difference[OD-60C1sub2]) -1: manufacturer specific

( Delta definition need pos difference[OD-60C1sub2])

Comment Set this record by PDO every T msec before

SYNC message Where T is specified by 1006h

Description Pos_Cmd (Low Word)

Comment Unit: low word of 32-bit CMD_PUU

Description Pos_Cmd (High Word)

Comment Unit: high word of 32-bit CMD_PUU

Description Velocity – Pos_Cmd difference

(it is also the same as velocity) Unit: PUU

Comment Set this record by PDO every T msec before

SYNC message Where T is specified by 60C2h:01h

Comment Unit: 32-bit CMD_PUU

Description Velocity – Pos_Cmd difference

(it is also the same as velocity) Unit: PUU

Comment The unit of the interpolation time unit is given in 10 interpolation time index seconds

Object 60F4 h : Following error actual value

Name Following error actual value

Object 60FC h : Position demand value*

Object 2xxx is defined to parameter

If user wants to use CANopen protocol for simulate Keypad press, he or she could read and write Keypad parameter via SDO protocol

User could query Index first for knowing Length of Parameter and then could change the data by SDO or PDO

‘BC’ is hexadecimal format of ‘bc’

CANopen Communication Fault Messages

Error register Panel Alarm Code N/A

Fault Messages ( If ALARM code is not showed here, please refer to User Manual )

Display Fault Name Fault Description Clearing Method

(Warning) CANbus off or Error Tx Counter exceeds 128

NMT-ResetNode or 6040h fault reset (Check enough bandwidth)

(Bus-Off) CANbus off or Error Tx Counter exceeds 255

NMT-ResetNode or 6040h fault reset (Check enough bandwidth)

Error about node guarding or heartbeat of CANopen protocol

NMT-ResetNode or 6040h fault reset

Error about node guarding or heartbeat of CANopen protocol

AL111 CANopen SDO receive buffer overrun

SDO Rx buffer overrun is detected (receive two or more SDO packets in 1ms)

AL112 CANopen PDO receive buffer overrun

PDO Rx buffer overrun is detected (receive two or more PDO (same COBID) packets in 1ms)

Index error occurs when accessing

The specified Index in the message does not exist

Sub-index error occurs when accessing

The specified Sub-index in the message does not exist

Data type (size) error occurs when accessing

The data length in the message does not match the specified object

Data range error occurs when accessing

The data in the message has exceeded the data range of the specified object

CANopen PDO object is read-only and write-protected

The specified object in the message is read-only and write-protected (cannot be changed)

AL126 CANopen PDO object does not support PDO

The specified object in the message does not support PDO

CANopen PDO object is write-protected when

The specified object in the message is write-protected (cannot be changed) when Servo

Error occurs when reading CANopen PDO object from EE-PROM

An error occurs when loading the default settings from EE-PROM at start-up All CANopen objects return to their default settings automatically

Error occurs when writing CANopen PDO object into EE-PROM

An error occurs when writing the current settings into EE-PROM

AL130 EE-PROM invalid address range

The amount of the data saved in EE-PROM has exceeded the space determined by the firmware

Maybe the firmware version has been upgraded, and it causes that the data of old firmware version saved in EE-PROM cannot be used

AL131 EE-PROM checksum error

The data saved in EE-PROM has been damaged and all CANopen objects return to their default settings automatically

The parameter is password protected when using CANopen communication to access the parameter The users must enter the valid password to unlock the parameter

1010/1011 error Fail while Read/Write data from/to EEPROM

The synchronous communication with the external controller has failed

AL302 CANopen SYNC signal error (Servo On) The CANopen SYNC signal is received too early

AL303 CANopen SYNC time out (Servo On)

The CANopen SYNC signal is not received within the specified time

AL304 CANopen IP command failed (Servo On)

Internal command of CANopen IP mode cannot be sent and received

Object 0x1006 data error SYNC period 1006h value is invalid

The synchronous communication with the external controller has failed

AL3E2 CANopen SYNC signal error (Servo Off) The CANopen SYNC signal is received too early

AL3E3 CANopen SYNC time out (Servo Off)

The CANopen SYNC signal is not received within the specified time

AL3E4 CANopen IP command failed (Servo Off)

Internal command of CANopen IP mode cannot be sent and received

Object 0x1006 data error SYNC period 1006h value is invalid

AL401 CANopen state error NMT reset or NMT stop is received when drive is enabled

Error Code Table

32bit-ErrorCode (16bit-ErrorCode + 16bit-Additional Info)

AL008 Abnormal pulse control command 8600-0008h

AL014 Reverse limit switch error 5443-0014h

AL015 Forward limit switch error 5442-0015h

AL020 Serial communication time out 7520-0020h

AL022 Input power phase loss 3130-0022h

AL024 Encoder initial magnetic field error 7305-0024h

AL040 Ful closed-loop excessive deviation 8610-0040h

AL201 CANopen Data Initial Error 6310-0201h

(Servo On / Servo off according to setting)

AL186 CANbus error (Bus-off)

(Servo On / Servo off according to setting)

AL170 Node guarding or Heartbeat error (Servo On) 8130-0170h

AL180 Node guarding or Heartbeat error (Servo Off) 8130-0180h

AL111 CANopen SDO receive buffer overrun 8110-0111h

AL112 CANopen PDO receive buffer overrun 8110-0112h

AL121 Index error occurs when accessing CANopen PDO object 8200-0121h

AL122 Sub-index error occurs when accessing CANopen PDO object

AL123 Data type (size) error occurs when accessing CANopen

AL124 Data range error occurs when accessing CANopen PDO object

8200-0124 h AL125 CANopen PDO object is read-only and write-protected 8200-0125h

AL126 CANopen PDO object does not support PDO 8200-0126

AL127 CANopen PDO object is write-protected when Servo On 8200-0127h

AL128 Error occurs when reading CANopen PDO object from

AL129 Error occurs when writing CANopen PDO object into

AL130 EEPROM invalid address range 8200-0130h

AL201 CANopen load/save 1010/1011 error 6310-0201h

AL301 CANopen SYNC failed (Servo On) 6200-0301h

AL302 CANopen SYNC signal error (Servo On) 6200-0302h

AL303 CANopen SYNC time out (Servo On) 6200-0303h

AL304 CANopen IP command failed (Servo On) 6200-0304h

AL305 SYNC period error (Servo On) 6200-0305h

AL3E1 CANopen SYNC failed (Servo Off) 6200-03E1h

AL3E2 CANopen SYNC signal error (Servo Off) 6200-03E2h

AL3E3 CANopen SYNC time out (Servo Off) 6200-03E3h

AL3E4 CANopen IP command failed (Servo Off) 6200-03E4h

AL3E5 SYNC period error (Servo Off) 6200-03E5h

SDO Error Message Abort Codes

05040001h Client/server command specifier not valid or unknown

06010002 h Attempt to write a read only object

06020000 h Object does not exist in the object dictionary

06040041 h Object cannot be mapped to the PDO

06040042 h The number and length of the objects to be mapped would exceed PDO length

06060000 h Access failed due to an hardware error(store or restore error)

06070010 h Data type does not match, length of service parameter does not match

06090011 h Sub-index does not exist

06090030 h Value range of parameter exceeded(only for write access)

080000a1 h Object error when reading from EEPROM

080000a2 h Object error when writing to EEPROM

080000a3 h Invalid Range when accessing EEPROM

080000a4 h Checksum error when accessing EEPROM

080000a5 h Password error when writing encryption zone

08000020 h Data cannot be transferred or stored to the application (store or restore signature error)

08000021 h Data cannot be transferred or stored to the application because of the local control(store or restore while wrong state)

08000022 h Object is on the fly

1 CANopen Application Layer and Communication Profile, CiA Draft Standard 301, Version 4.02, Date: 13 February 2002

2 CANopen Device Profile Drives and Motion Control, CiA Draft Standard Proposal 402, Version 2.0, Date: 26 July 2002

Tiêu đề	CANopen Technical Guide for ASDA A2
Thể loại	technical guide
Năm xuất bản	2012

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Số trang	68
Dung lượng	438,96 KB